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<h3>SRV_httpd HTTP Interface - as of 23 March 2010</h3>

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http://robot-ip:10001/index.html  - load robot control script stored in flash sectors 10-11<br>
http://robot-ip:10001/admin -  upload new firmware and scripts to flash<br>
http://robot-ip:10001/robot.jpg  -  capture and send new frame from camera (webcam interface)<br>
<br>
http://robot-ip:10001/robot.cgi? - robot control functions:<br>
<br>
     /robot.cgi?$a_   -  read SRV-4WD analog channel 0-7 (0=battery, 1=5v gyro, 2=3.3v gyro, 3=IR1, 4=IR2, 6=IR3, 7=IR4)<br>
     /robot.cgi?$e_    - read wheel encoder 1, 2, 3 or 4<br>
     /robot.cgi?$c     - read SRV-NAV compass<br>
     /robot.cgi?$g     - read SRV-NAV gps<br>
     /robot.cgi?$T_    - read SRV-NAV tilt sensor 1-3 (1=x, 2=y, 3=z)<br>
<br>
    /robot.cgi?V    - version string<br>
    /robot.cgi?t     - show time in millisecs since last reboot<br>
    /robot.cgi?$!    - Blackfin reset<br>
<br>
    /robot.cgi?m____     - PWM motor control  e.g. m5050 to stop both motors<br>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;range is 01 - 99, 50 = stop, 01 = max rev, 99 = max fwd<br>
    /robot.cgi?x____     - SRV-4WD motor control, e.g. x5050 to stop both motors<br>
    /robot.cgi?S____     - channel 2/3 servos, e.g. S5050 to center both servos<br>
    /robot.cgi?s____     - channel 6/7 servos, e.g. s5050 to center both servos<br>
<br>
    /robot.cgi?$A__     - RCM analog read channel 01-08, 11-18, 21-28<br>
    /robot.cgi?l1   - lasers on<br>
    /robot.cgi?l0   - lasers off<br>
<br>
    /robot.cgi?a    - 160x120 capture<br>
    /robot.cgi? b   - 320x240 capture<br>
    /robot.cgi?c    - 640x480 capture<br>
    /robot.cgi?d    - 1280x1024 capture (OV9655 only)<br>
    /robot.cgi?qx   - set jpeg quality 1-8 (1 is highest, 4 is default)<br>
<br>
    /robot.cgi?iraa     - I2c commands<br>
    /robot.cgi?iRaa<br>
    /robot.cgi?iwaabb<br>
    /robot.cgi?iWaabbcccc<br>
    /robot.cgi?idaabbccddee<br>
<br>
    /robot.cgi?g0    - set frame differencing<br>
    /robot.cgi?g1    - enable color segmentation display<br>
    /robot.cgi?g2    - enable edge display<br>
    /robot.cgi?g3    - enable horizon detect display<br>
    /robot.cgi?g4    - enable obstacle detect display<br>
    /robot.cgi?g5    - enable stereo disparity display (SVS only)<br>
    /robot.cgi?g6    - enable blob detect display<br>
    /robot.cgi?gx    - disable all special displays<br>
<br>
    /robot.cgi?va  -  enable/disable AGC / AWB / AEC camera controls<br>
    /robot.cgi?vb  -  find blobs matching color bin <br>
    /robot.cgi?vc  -  set color bin ranges<br>
    /robot.cgi?vm  -  mean colors<br>
    /robot.cgi?vp  -  sample individual pixel<br>
    /robot.cgi?vr  -  recall color bin ranges<br>
    /robot.cgi?vs  -  scan for edges<br>
    /robot.cgi?vt  -  set edge detect threshold (0000-9999, default is 3200)<br>
    /robot.cgi?vz  -  zero all color settings<br>
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last updated 23 March 2010 - 23:50 GMT
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